/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_MAPPING_DATA_H_
#define CARTOGRAPHER_MAPPING_DATA_H_

#include "absl/memory/memory.h"
#include "cartographer/common/time.h"
#include "cartographer/transform/rigid_transform.h"

namespace cartographer
{

    namespace mapping
    {
        class TrajectoryBuilderInterface;
    }

    namespace sensor
    {
        class Data
        {
        public:
            explicit Data(const std::string &sensor_id)
                : sensor_id_(sensor_id)
            {
            }

            virtual ~Data()
            {
            }

            virtual common::Time GetTime() const = 0;
            
            const std::string &GetSensorId() const
            {
                return sensor_id_;
            }

            virtual void AddToTrajectoryBuilder(mapping::TrajectoryBuilderInterface *trajectory_builder) = 0;

        protected:
            const std::string sensor_id_;
        };

    } // namespace sensor
} // namespace cartographer

#endif // CARTOGRAPHER_MAPPING_DATA_H_
